高分辨毫米波雷达与摄像融合目标跟踪方法  

Target Tracking Method for Fusion of High-Resolution Millimeter-Wave Radar and Camera

作　　者：周钦全 孙希平 余晓洁 吴振华 张磊 ZHOU Qinquan;SUN Xiping;YU Xiaojie;WU Zhenhua;ZHANG Lei(School of Electronic and Communication Engineering,Sun Yat-Sen University,Shenzhen 518107,China;State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System,Luoyang 471003,China)

机构地区：[1]中山大学电子与通信工程学院,深圳518107 [2]电子信息系统复杂电磁环境效应国家重点实验室,河南洛阳471003

出　　处：《电子信息对抗技术》2024年第4期47-55,共9页Electronic Information Warfare Technology

基　　金：国家自然科学基金资助项目(62101603);广东省重点领域研发计划项目(2019B111101001);电子信息系统复杂电磁环境效应国家重点实验室开放课题(CEMEE2022Z0302B)。

摘　　要：为提高雷达感知对抗领域的雷达光电目标感知能力,针对高分辨毫米波雷达与摄像融合目标跟踪算法进行研究。针对单传感器性能局限与现有雷达光电融合跟踪鲁棒性较弱的问题,提出一种高分辨毫米波雷达与摄像信息融合策略的目标跟踪算法。首先对毫米波雷达与摄像目标跟踪结果进行信息时空同步,然后在决策级层面采用自适应阈值匹配方法实现目标匹配,按设定的信息融合策略实现传感器信息优势互补。最后结合反馈机制,采用毫米波雷达和摄像检测跟踪一体化方法提高融合跟踪的鲁棒性。大量实测实验表明,所提算法跟踪准确率高于单传感器方案和经典雷视决策级融合方案,且对目标跟踪连续性、鲁棒性具有明显性能改善。To improve the radar photoelectric target perception ability in radar perception countermeasures,the target tracking algorithm of high-resolution millimeter-wave radar and camera fusion is studied.Aiming at the performance limitations of a single sensor and the weak robustness of the existing radar photoelectric fusion tracking,a target tracking algorithm based on the fusion strategy of high-resolution millimeter-wave radar and camera information is proposed.Firstly,the target tracking results of millimeter-wave radar and camera undergo information space-time are spatiotemporally synchronized.Subsequently,at the decision-making level,adaptive threshold matching method is used to achieve target matching,and sensor information complementary advantages are achieved according to the set information fusion strategy.Finally,combined with the feedback mechanism,a radar-camera detection and tracking integration method is adopted to improve the robustness of fusion tracking.Real measured experiments demonstrate that the proposed algorithm achieves higher tracking accuracy than the single-sensor scheme and classic radar-camera fusion scheme with better performance on the continuity and robustness of target tracking.

关 键 词：传感器信息融合 多目标跟踪 融合策略 检测跟踪一体化 毫米波雷达 

分 类 号：TN971[电子电信—信号与信息处理]